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Animate

Animate Arms

  • Description: Animate both of the robot's arms.

  • Args:

    • anim_name (ArmAnimations): The name of the animation to play.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "animate_arms",
    "anim_name": anim_name
  }
}

Animate Arm

  • Description: Animate one of the robot's arms.

  • Args:

    • anim_name (ArmAnimations): The name of the animation to play.
    • arm (Arm): The arm to animate.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "animate_arm",
    "anim_name": anim_name,
    "arm": arm
  }
}

Arms Down

  • Description: Move the robot's arms down.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "arms_down"
  }
}

Wiggle Ears

  • Description: Wiggle the ears back and forth. ⚠️ Note: synchronize_ears may produce unexpected behavior depending on the chosen range.

  • Args:

    • min_range (float): Minimum wiggle range in [0.0, 1.0]. Defaults to 0.5.
    • max_range (float): Maximum wiggle range in [0.0, 1.0]. Defaults to 1.0.
    • rounds (int): Number of back-and-forth motions. Defaults to 3.
    • synchronize_ears (bool): If True, both ears move together. Disabled by default.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "wiggle_ears",
    "min_range": min_range,
    "max_range": max_range,
    "rounds": rounds,
    "synchronize_ears": synchronize_ears
  }
}

Wiggle Ear

  • Description: Wiggle one ear.

  • Args:

    • ear (Ear): The ear to move.
    • min_range (float): The minimum range of the wiggle (between 0.0 and 1.0). Defaults to 0.5.
    • max_range (float): The maximum range of the wiggle (between 0.0 and 1.0). Defaults to 1.0.
    • rounds (int): The number of back-and-forth motions. Defaults to 3.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "wiggle_ear",
    "ears": ears,
    "min_range": min_range,
    "max_range": max_range,
    "rounds": rounds
  }
}

Hold Hand

  • Description: Play animation to hold hand with specified arm.

  • Args:

    • arm (Arm): The arm to use for holding hand.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "hold_hand",
    "arm": arm
  }
}

Reset Ears

  • Description: Reset ears to their nominal position.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "reset_ears"
  }
}

Wind Ears

  • Description: Wind the robot's ears.

  • Args:

    • frequency (float): Frequency in Hz to wind ears.
    • min_range (float): Minimum range (between 0 and 1). Defaults to 0.0.
    • max_range (float): Maximum range (between 0 and 1). Defaults to 1.0.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "wind_ears",
    "frequency": frequency,
    "min_range": min_range,
    "max_range": max_range
  }
}

Lets Dance

  • Description: Put the robot's arms in dance position.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "lets_dance"
  }
}

Sniff Around

  • Description: Make the robot sniff around.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "sniff_around"
  }
}

Body Scan

  • Description: Make the robot fake a body scan.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "body_scan"
  }
}

Track Neck And Wait Infinitely

  • Description: Set the neck mode to 'track' and focus on something.

  • Args:

    • focus_on (str): Focus mode (everything, handles, humans, deposit_zone, or firefly).

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "track_neck_and_wait_infinitely",
    "focus_on": focus_on
  }
}

Animate Neck And Wait Infinitely

  • Description: Set the neck mode to 'animate'.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "animate_neck_and_wait_infinitely"
  }
}

Freeze Neck And Wait Infinitely

  • Description: Set the neck mode to 'freeze'.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "freeze_neck_and_wait_infinitely"
  }
}

Scan Neck And Wait Infinitely

  • Description: Set the neck mode to 'scan'.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "scan_neck_and_wait_infinitely"
  }
}

Set Default Head Mode

  • Description: Change the default head mode.

  • Args:

    • head_mode (HeadMode): Target head mode to set as default.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "set_default_head_mode"
  }
}

Set Body Posture

  • Description: Set the body posture of the robot.

  • Args:

    • animation_name (PostureState): The posture to set.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "set_body_posture",
    "animation_name": animation_name
  }
}

Play Animation

  • Description: Play an animation with optional sound and arm movement.

  • Args:

    • animation_name (Animation): The animation to play.
    • intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 0.85.
    • play_sound (bool): Whether to play a sound linked to the animation. Defaults to True.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "play_animation",
    "animation_name": animation_name,
    "intensity": intensity,
    "play_sound": play_sound
  }
}

Set Base Emotion

  • Description: Set an base emotion.

  • Args:

    • animation_name (BaseEmotion): The expressive state.
    • intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 1.0.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "set_base_emotion",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Move Ear

  • Description: Move a single ear to a specified target range.

  • Args:

    • ear (Ear): The ear to move.
    • target_range (float): The target position, between 0.0 (min) and 1.0 (max).

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "move_ear",
    "ear": ear,
    "target_range": target_range
  }
}

Move Ears

  • Description: Move both ears to specified target ranges.

  • Args:

    • left_target_range (float): Target position for the left ear.
    • right_target_range (float): Target position for the right ear.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "move_ears",
    "left_target_range": left_target_range,
    "right_target_range": right_target_range
  }
}

Change Default Base Emotion

  • Description: Change the default expressive background animation settings.

  • Args:

    • animation_name (BaseEmotion | None): The new animation name, if changing.
    • intensity (float | None): The new intensity, from 0.0 to 1.0, if changing.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "change_default_base_emotion",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Change Default Interactive State

  • Description: Change the default interactive state settings.

  • Args:

    • animation_name (InteractiveState | None): The new animation name, if changing.
    • intensity (float | None): The new intensity, from 0.0 to 1.0, if changing.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "change_default_interactive_state",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Reset Background Animations

  • Description: Reset all background animations to their standard/default state.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "reset_background_animations"
  }
}

Set Interactive State

  • Description: Set an interactive background animation.

  • Args:

    • animation_name (InteractiveState): The interactive state.
    • intensity (float): Intensity from 0.0 (low) to 1.0 (high). Defaults to 1.0.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "set_interactive_state",
    "animation_name": animation_name,
    "intensity": intensity
  }
}

Enable Animated Arms

  • Description: Enable or Disable the following of animations (from the animations engine) on the arms.

  • Args:

    • enable_arms (bool): If the arms should follows the animations.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "enable_animated_arms",
    "enable_arms": enable_arms
  }
}

Cancel Sound

  • Description: Cancel the currently playing sound, if any.

  • Args:

    • sound_name (SoundName): The name of the sound to cancel.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "cancel_sound",
    "sound_name": sound_name
  }
}

Play Sound

  • Description: Play a sound by name.

  • Args:

    • sound_name (SoundName): The name of the sound to play.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "play_sound",
    "sound_name": sound_name
  }
}

Change Frequency Wind Ears

  • Description: Change the frequency of the wind ears animation.

  • Args:

    • frequency (float): The frequency in Hz for the wind ears motion.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "change_frequency_wind_ears",
    "frequency": frequency
  }
}

Wake Up

  • Description: Wake up the robot.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "wake_up"
  }
}

Set Neck Orientation

  • Description: Set the neck orientation in radians.

  • Args:

    • roll (float): The roll angle in radians.
    • pitch (float): The pitch angle in radians.
    • yaw (float): The yaw angle in radians.
    • reset_target_after (bool): in track mode, only the roll is applyed,
    • wait_infinitely (bool): True if wait infinitely, otherwise use default neck behavior

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "set_neck_orientation",
    "roll": roll,
    "pitch": pitch,
    "yaw": yaw,
    "reset_target_after": reset_target_after,
    "wait_infinitely": wait_infinitely
  }
}

Reset Neck Orientation

  • Description: Reset target applied to the neck.

  • Endpoint: /api/v1/dict/

  • Type of Argument: Dict

  • JSON Example: 

    {
  "command": "skill",
  "value": {
    "name": "reset_neck_orientation"
  }
}